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Add test for guess matrix in GICP #970

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Add test for guess matrix in GICP #970

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VictorLamoine
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This commit adds a test unit to prove that #887 fixes #754.
This can also be check with this test program.

@saarnold is it ok for you now?

reg.setInputSource (src);
reg.setInputTarget (tgt);
reg.setMaximumIterations (1); // Allow only 1 iteration
reg.align (output, transform.matrix ());
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If you replace this line with reg.align (output); the test unit will fail because GICP can't make a perfect alignment in only one iteration.
When providing a guess matrix, the alignement is perfect with only 1 iteration because the guess matrix is exactly the right one.

@saarnold
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When using two equal pointclouds the MSE (or FitnessScore) will be zero and it will converge, but that excludes the optimization process, where the error actually happens. I'll adapt your test case to reveal the issue.

@VictorLamoine
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Pull request #972 is better.

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Using a guess transformation in GICP alignment leads to wrong results.
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